﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace SaiPuLSCoffee.model
{
    /// <summary>
    /// 左臂
    /// </summary>
    public class Robot1Model
    {
        private static Robot1Model instance;
        private Robot1Model() { }

        public static Robot1Model Instance
        {
            get
            {
                if (instance == null)
                {
                    instance = new Robot1Model();
                }
                return instance;
            }
        }

        #region 左臂写指令
        /// <summary>
        /// 取碗1 开
        /// </summary>
        public string RobotQW1L_UP { get; set; } = "03 05 00 28 FF 00 0D D0";
        /// <summary>
        /// 取碗1 关
        /// </summary>
        public string RobotQW1L_Down { get; set; } = "03 05 00 28 00 00 4C 20";
        /// <summary>
        /// 取碗2 开
        /// </summary>
        public string RobotQW2L_UP { get; set; } = "03 05 00 29 FF 00 5C 10";
        /// <summary>
        /// 取碗2 关
        /// </summary>
        public string RobotQW2L_Down { get; set; } = "03 05 00 29 00 00 1D E0";
        /// <summary>
        /// 豆1 开
        /// </summary>
        public string RobotD1L_UP { get; set; } = "03 05 00 2A FF 00 AC 10";
        /// <summary>
        /// 豆1 关
        /// </summary>
        public string RobotD1L_Down { get; set; } = "03 05 00 2A 00 00 ED E0";
        /// <summary>
        /// 豆2 开
        /// </summary>
        public string RobotD2L_UP { get; set; } = "03 05 00 2B FF 00 FD D0";
        /// <summary>
        /// 豆2 关
        /// </summary>
        public string RobotD2L_Down { get; set; } = "03 05 00 2B 00 00 BC 20";
        /// <summary>
        /// 豆3 开
        /// </summary>
        public string RobotD3L_UP { get; set; } = "03 05 00 2C FF 00 4C 11";
        /// <summary>
        /// 豆3 关
        /// </summary>
        public string RobotD3L_Down { get; set; } = "03 05 00 2C 00 00 0D E1";
        /// <summary>
        /// 洗碗1 开
        /// </summary>
        public string RobotXW1L_UP { get; set; } = "03 05 00 2D FF 00 1D D1";
        /// <summary>
        /// 洗碗1 关
        /// </summary>
        public string RobotXW1L_Down { get; set; } = "03 05 00 2D 00 00 5C 21";
        /// <summary>
        /// 洗碗2 开
        /// </summary>
        public string RobotXW2L_UP { get; set; } = "03 05 00 2E FF 00 ED D1";
        /// <summary>
        /// 洗碗2 关
        /// </summary>
        public string RobotXW2L_Down { get; set; } = "03 05 00 2E 00 00 AC 21";
        #endregion
        #region 左臂读指令
        /// <summary>
        /// 原点
        /// </summary>
        public string RobotYD_Sel { get; set; } = "03 02 00 08 00 01 39 EA";
        /// <summary>
        /// 碗1待萃取
        /// </summary>
        public string RobotW1DCQ_Sel { get; set; } = "03 02 00 09 00 01 68 2A";
        /// <summary>
        /// 碗2待萃取
        /// </summary>
        public string RobotW2DCQ_Sel { get; set; } = "03 02 00 0A 00 01 98 2A";
        /// <summary>
        /// 碗1恢复完
        /// </summary>
        public string RobotW1HFW_Sel { get; set; } = "03 02 00 0B 00 01 C9 EA";
        /// <summary>
        /// 碗2恢复完
        /// </summary>
        public string RobotW2HFW_Sel { get; set; } = "03 02 00 0C 00 01 78 2B";
        /// <summary>
        /// 碗1拆完（冲洗）
        /// </summary>
        public string RobotW1CWCX_Sel { get; set; } = "03 02 00 0D 00 01 29 EB";
        /// <summary>
        /// 碗2拆完（冲洗）
        /// </summary>
        public string RobotW2CWCX_Sel { get; set; } = "03 02 00 0E 00 01 D9 EB";
        #endregion
    }
}
